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<div class="title">cfg.cpp</div>  </div>
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<a href="cfg_8cpp.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &quot;base/cfg.h&quot;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &lt;fstream&gt;</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//构造函数</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;Config::Config(<span class="keywordtype">string</span> file_name)</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;{</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;    <span class="comment">//定义一个配置文件</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;    this-&gt;file_name = file_name;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;    <span class="comment">//默认一共0个配置</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;    this-&gt;cfg_line = 0;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;    <span class="keywordflow">if</span> (createHead() == 0)</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;    {</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;        <span class="comment">//从文件读取全部配置 加入链表</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;        getCFG();</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;        <span class="comment">//打印全部配置</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;        <span class="comment">//printCfg();</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    }</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;}</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">//析构函数</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;Config::~Config()</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;{</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    <span class="comment">//释放链表的各个节点</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    freeJoin();</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="comment">//释放头节点</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="keywordflow">if</span> (this-&gt;head != NULL)</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    {</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;        <span class="keyword">delete</span> this-&gt;head;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    }</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;}</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment">//获取配置的总数</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="keywordtype">int</span> Config::getLines()</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;{</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="keywordflow">return</span> this-&gt;cfg_line;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;}</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment">//设置某个配置项</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keywordtype">int</span> Config::setCFG(<span class="keywordtype">string</span> key, <span class="keywordtype">string</span> value)</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;{</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="keywordtype">int</span> rt = 0;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="comment">//插入链表</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    joinHead(key, value);</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="comment">//同步到文件</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    inputFile();</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keywordflow">return</span> rt;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;}</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="comment">//内存配置同步到文件</span></div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keywordtype">int</span> Config::inputFile()</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;{</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keywordtype">int</span> rt = 1;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keywordflow">if</span> (this-&gt;head == NULL)</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    {</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        <span class="keywordflow">return</span> rt;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    }</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="comment">//缓存字符串</span></div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordtype">string</span> st;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="comment">//定义文件类型</span></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    ofstream outfile;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="comment">//打开文件方式</span></div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    outfile.open(this-&gt;file_name , ios::out | ios::trunc);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="comment">// 遍历向文件写入用户输入的数据</span></div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    CFG_J * p = this-&gt;head-&gt;next;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordflow">while</span> (p != NULL)</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    {</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <span class="comment">//定义字符串</span></div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        st = p-&gt;key + <span class="stringliteral">&quot;=&quot;</span> + p-&gt;value;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="comment">//写入字符串</span></div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        outfile &lt;&lt; st &lt;&lt; endl;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="comment">//移动指针</span></div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        p = p-&gt;next;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    }</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="comment">//关闭文件</span></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    outfile.close();</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordflow">return</span> rt;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;}</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="comment">//获取某项特定配置</span></div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="keywordtype">string</span> Config::getCFG(<span class="keywordtype">string</span> key)</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;{</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="comment">//默认找不到</span></div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordtype">string</span> rt = <span class="stringliteral">&quot;CANNOT FIND THIS CONFIG.&quot;</span>;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keywordflow">if</span> (this-&gt;head == NULL)</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    {</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <span class="keywordflow">return</span> rt;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    }</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="comment">//遍历抓取配置项</span></div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    CFG_J *p = this-&gt;head-&gt;next;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keywordflow">while</span> (p != NULL)</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    {</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <span class="keywordflow">if</span> (p-&gt;key==(key))</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        {</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;            <span class="comment">//捕捉到则返回值</span></div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;            rt = p-&gt;value;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;            cout&lt;&lt;key&lt;&lt;<span class="stringliteral">&quot;:&quot;</span>&lt;&lt;p-&gt;value&lt;&lt;endl;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;            <span class="keywordflow">break</span>;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        }<span class="keywordflow">else</span>{</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        }</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        p = p-&gt;next;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    }</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keywordflow">if</span>(rt == <span class="stringliteral">&quot;CANNOT FIND THIS CONFIG.&quot;</span>){</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        cout&lt;&lt;<span class="stringliteral">&quot;Check for existence of key:\&quot;&quot;</span>&lt;&lt;key&lt;&lt;<span class="stringliteral">&quot;\&quot;.&quot;</span>;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        rt=<span class="stringliteral">&quot;-1&quot;</span>;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    }</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="keywordflow">return</span> rt;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;}</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;<span class="comment">//从文件获取全部的配置</span></div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;<span class="keywordtype">int</span> Config::getCFG()</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;{</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keywordtype">int</span> rt = 0;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="comment">//先清空链表</span></div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    freeJoin();</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="comment">//配置总数为0</span></div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    this-&gt;cfg_line = 0;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="comment">//定义缓存字符串变量</span></div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="keywordtype">string</span> st;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keywordtype">string</span> key, value;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="comment">//定义文件变量</span></div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    ifstream infile;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    string::size_type idx;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="keywordtype">char</span> *p = NULL, *q = NULL;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="comment">//打开文件</span></div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    infile.open(this-&gt;file_name);</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="comment">//遍历直到文件的最后</span></div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordflow">while</span> (getline(infile,st))</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    {</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <span class="comment">//初始化缓存</span></div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <span class="comment">//取得一行配置</span></div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="comment">//找不到等号则继续</span></div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        idx = st.find(<span class="stringliteral">&quot;#&quot;</span>);         </div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <span class="keywordflow">if</span> (idx != string::npos)</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        {</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;            st = st.substr(0, idx);</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        }</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        idx = st.find(<span class="stringliteral">&quot;=&quot;</span>);        </div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <span class="keywordflow">if</span> (idx == string::npos)</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        {</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;            <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        }</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <span class="comment">//截断字符串得到key和value字符串</span></div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        key = st.substr(0, idx);</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        key.erase(0,key.find_first_not_of(<span class="stringliteral">&quot; &quot;</span>));</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        key.erase(key.find_last_not_of(<span class="stringliteral">&quot; &quot;</span>)+1);</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        value = st.substr(idx + 1,st.length()-idx);</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        value.erase(0,value.find_first_not_of(<span class="stringliteral">&quot; &quot;</span>));</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        value.erase(value.find_last_not_of(<span class="stringliteral">&quot; &quot;</span>)+1);</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <span class="comment">// cout&lt;&lt;st&lt;&lt;&quot;_________________-;&quot;&lt;&lt;key&lt;&lt;&quot;:&quot;&lt;&lt;value&lt;&lt;endl;</span></div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="comment">//插入链表</span></div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        joinHead(key,value);</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        st = <span class="stringliteral">&quot;&quot;</span>;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    }</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="comment">//关闭文件</span></div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    infile.close();</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keywordflow">return</span> rt;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;}</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="comment">//将配置插入内存链表</span></div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="keywordtype">int</span> Config::joinHead(<span class="keywordtype">string</span> key,<span class="keywordtype">string</span> value)</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;{</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="keywordtype">int</span> rt = 1;</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="keywordflow">if</span> (this-&gt;head == NULL)</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    {</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        rt = 2;</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <span class="keywordflow">return</span> rt;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    }</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    <span class="comment">//定义移动指针</span></div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    CFG_J * p = this-&gt;head;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    CFG_J * cur = p-&gt;next;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keywordflow">while</span> (cur != NULL)</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    {</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        <span class="comment">//cout &lt;&lt; cur-&gt;key &lt;&lt; &quot; &quot; &lt;&lt; key &lt;&lt; &quot; &quot; &lt;&lt; cur-&gt;key.compare(key) &lt;&lt; endl;</span></div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        <span class="comment">//找到值则直接改变</span></div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <span class="keywordflow">if</span> (cur-&gt;key.compare(key) == 0)</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        {</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;            cur-&gt;value = value;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;            rt = 0;</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;            <span class="keywordflow">break</span>;</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        }</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        p = cur;</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        cur = p-&gt;next;</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    }</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="comment">//找不到值则再最后插入</span></div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keywordflow">if</span> (rt != 0)</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    {</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        CFG_J *q = <span class="keyword">new</span> CFG_J();</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        q-&gt;key = key;</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        q-&gt;value = value;</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        q-&gt;next = NULL;</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        p-&gt;next = q;</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <span class="comment">//配置数自增</span></div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        this-&gt;cfg_line ++;</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    }</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    <span class="keywordflow">return</span> rt;</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;}</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;<span class="comment">//释放全部节点（除了头指针）</span></div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="keywordtype">int</span> Config::freeJoin()</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;{</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    <span class="keywordtype">int</span> rt = 1;</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <span class="comment">//定义移动指针</span></div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    CFG_J * p = this-&gt;head-&gt;next;</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    CFG_J * cur = p;</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    <span class="keywordflow">if</span> (p == NULL)</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    {</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <span class="keywordflow">return</span> rt;</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    }</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="comment">//遍历释放内存</span></div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    <span class="keywordflow">while</span> (cur != NULL)</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    {</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        p = cur-&gt;next;</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        <span class="keyword">delete</span> cur;</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        cur = p;</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    }</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    <span class="comment">//初始化头指针</span></div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    this-&gt;head-&gt;next = NULL;</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    rt = 0;</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="keywordflow">return</span> rt;</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;}</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;<span class="comment">//打印所有的配置</span></div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;<span class="keywordtype">void</span> Config::printCfg()</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;{</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <span class="keywordflow">if</span> (this-&gt;head == NULL)</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    {</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    }</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    <span class="comment">//定义移动指针</span></div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    CFG_J * p = this-&gt;head-&gt;next;</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    <span class="keywordflow">while</span> (p != NULL)</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    {</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        cout &lt;&lt; p-&gt;key &lt;&lt; <span class="stringliteral">&quot;=&quot;</span> &lt;&lt; p-&gt;value &lt;&lt; endl;</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        <span class="comment">//移动指针</span></div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        p = p-&gt;next;</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    }</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;}</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="comment">//创建配置链表头指针</span></div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;<span class="keywordtype">int</span> Config::createHead()</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;{</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <span class="keywordtype">int</span> rt = 1;</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    CFG_J *p = <span class="keyword">new</span> CFG_J();</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    p-&gt;key = <span class="stringliteral">&quot;headkey&quot;</span>;</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    p-&gt;value = <span class="stringliteral">&quot;headvalue&quot;</span>;</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    p-&gt;next = NULL;</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    this-&gt;head = p;</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    rt = 0;<span class="comment">//没有问题</span></div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    <span class="keywordflow">return</span> rt;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;}</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;Parameters::Parameters(<span class="keywordtype">string</span> file_path){</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    cfg=<span class="keyword">new</span> Config(file_path);</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    <span class="keywordflow">if</span>(cfg-&gt;getCFG(<span class="stringliteral">&quot;config_title&quot;</span>)==<span class="stringliteral">&quot;UAV_TEST_PLATFORM_SOFTWARE&quot;</span>){</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;        <span class="keywordflow">if</span>(cfg-&gt;getCFG(<span class="stringliteral">&quot;config_version&quot;</span>)==<span class="stringliteral">&quot;0.1&quot;</span>){</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;            <span class="keywordflow">if</span>(cfg-&gt;getCFG(<span class="stringliteral">&quot;author&quot;</span>)==<span class="stringliteral">&quot;ZhengZi&quot;</span>){</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;                target_pos_x=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;target_pos_x&quot;</span>).c_str());</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;                target_pos_y=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;target_pos_y&quot;</span>).c_str());</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;                target_pos_z=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;target_pos_z&quot;</span>).c_str());</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;                Vz_Kp=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;Vz_Kp&quot;</span>).c_str());</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;                Vz_Ki=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;Vz_Ki&quot;</span>).c_str());</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;                Vz_Kd=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;Vz_Kd&quot;</span>).c_str());</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;                V_Kp=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;V_Kp&quot;</span>).c_str());</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;                V_Ki=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;V_Ki&quot;</span>).c_str());</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;                V_Kd=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;V_Kd&quot;</span>).c_str());</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;                Yaw_Kp=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;Yaw_Kp&quot;</span>).c_str());</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;                Yaw_Ki=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;Yaw_Ki&quot;</span>).c_str());</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;                Yaw_Kd=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;Yaw_Kd&quot;</span>).c_str());</div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;                map_size_x=atoi(cfg-&gt;getCFG(<span class="stringliteral">&quot;map_size_x&quot;</span>).c_str());</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;                map_size_y=atoi(cfg-&gt;getCFG(<span class="stringliteral">&quot;map_size_y&quot;</span>).c_str());</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;                map_occupied_thresh=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;map_occupied_thresh&quot;</span>).c_str());</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;                max_fly_speed=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;max_fly_speed&quot;</span>).c_str());</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;                max_yaw_rad=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;max_yaw_rad&quot;</span>).c_str());</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;                max_z_speed=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;max_z_speed&quot;</span>).c_str());</div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;                dilate_first_x=atoi(cfg-&gt;getCFG(<span class="stringliteral">&quot;dilate_first_x&quot;</span>).c_str());</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;                dilate_first_y=atoi(cfg-&gt;getCFG(<span class="stringliteral">&quot;dilate_first_y&quot;</span>).c_str());</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;                dilate_second_x=atoi(cfg-&gt;getCFG(<span class="stringliteral">&quot;dilate_second_x&quot;</span>).c_str());</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;                dilate_second_y=atoi(cfg-&gt;getCFG(<span class="stringliteral">&quot;dilate_second_y&quot;</span>).c_str());</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;                record_to_file=atoi(cfg-&gt;getCFG(<span class="stringliteral">&quot;record_to_file&quot;</span>).c_str());</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;                show_rt_map=atoi(cfg-&gt;getCFG(<span class="stringliteral">&quot;show_rt_map&quot;</span>).c_str());</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;                show_point_cloud=atoi(cfg-&gt;getCFG(<span class="stringliteral">&quot;show_point_cloud&quot;</span>).c_str());</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;                rrt_one_step_max_iterations=atoi(cfg-&gt;getCFG(<span class="stringliteral">&quot;rrt_one_step_max_iterations&quot;</span>).c_str());</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;                rrt_step_size=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;rrt_step_size&quot;</span>).c_str());</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;                rrt_reach_goal_thresh=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;rrt_reach_goal_thresh&quot;</span>).c_str());</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;                rrt_too_close_size=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;rrt_too_close_size&quot;</span>).c_str());</div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;                minimumsnap_en= atoi(cfg-&gt;getCFG(<span class="stringliteral">&quot;minimumsnap_en&quot;</span>).c_str());</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;                show_path_map=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;show_path_map&quot;</span>).c_str());</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;                rrt_route_refresh_thresh= atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;rrt_route_refresh_thresh&quot;</span>).c_str());      </div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;                no_move=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;no_move&quot;</span>).c_str());</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;                Pure_Pursuit_K=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;Pure_Pursuit_K&quot;</span>).c_str());</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;                Pure_Pursuit_LFC=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;Pure_Pursuit_LFC&quot;</span>).c_str());</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;                Vz_I_Max= atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;Vz_I_Max&quot;</span>).c_str());</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;                V_I_Max=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;V_I_Max&quot;</span>).c_str());</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;                Yaw_I_Max=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;Yaw_I_Max&quot;</span>).c_str());</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;                A_Kp=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;A_Kp&quot;</span>).c_str());</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;                A_Ki=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;A_Ki&quot;</span>).c_str());</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;                A_I_Max=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;A_I_Max&quot;</span>).c_str());</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;                A_Kd=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;A_Kd&quot;</span>).c_str());</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;                A_Max=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;A_Max&quot;</span>).c_str());</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;                map_expand_size=atoi(cfg-&gt;getCFG(<span class="stringliteral">&quot;map_expand_size&quot;</span>).c_str());</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;                Az_Kp=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;Az_Kp&quot;</span>).c_str());</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;                Az_Ki=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;Az_Ki&quot;</span>).c_str());</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;                Az_I_Max=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;Az_I_Max&quot;</span>).c_str());</div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;                Az_Kd=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;Az_Kd&quot;</span>).c_str());</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;                acc_control=atoi(cfg-&gt;getCFG(<span class="stringliteral">&quot;acc_control&quot;</span>).c_str());</div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;                map_grid_size=atof(cfg-&gt;getCFG(<span class="stringliteral">&quot;map_grid_size&quot;</span>).c_str());</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;                Path_Pursuit_Method=cfg-&gt;getCFG(<span class="stringliteral">&quot;Path_Pursuit_Method&quot;</span>);</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;                cout&lt;&lt;(<span class="stringliteral">&quot;Config has been successfully loaded.&quot;</span>);</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;                load_success=<span class="keyword">true</span>;</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;            }</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;            <span class="keywordflow">else</span>{</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;                cout&lt;&lt;<span class="stringliteral">&quot;Author info is wrong .Exiting.&quot;</span>;</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;            }</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;        }</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;        <span class="keywordflow">else</span>{</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;            cout&lt;&lt;<span class="stringliteral">&quot;Config_version Info&quot;</span>&lt;&lt;cfg-&gt;getCFG(<span class="stringliteral">&quot;config_version&quot;</span>)&lt;&lt; <span class="stringliteral">&quot;is wrong.Exiting.&quot;</span>;</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;        }</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    }<span class="keywordflow">else</span>{</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;        cout&lt;&lt;<span class="stringliteral">&quot;Config title is wrong.Exiting.&quot;</span>;</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    }</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;}</div></div><!-- fragment --></div><!-- contents -->
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